Comments (2)
By default RealSense2 driver will publish IMU data if the camera has one. If you are using the events-based example, you can enable IMU filtering on CameraThread
object to compute the quaternion:
cameraThread.enableIMUFiltering();
If you are using the no-events example, you can just reset the IMU data before sending it to the odometry for processing:
data.setIMU(IMU());
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Thank you! The cameraThread.enableIMUFiltering()
in events example solved the issue!
from rtabmap.
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